/SLAM-Hive/slam_hive_results/mapping_results/3467/1915_vins-mono+MH_03_medium+Image_comb_test-0.yamlERROR: Unable to communicate with master!
... logging to /root/.ros/log/ee0a085e-9d94-11ef-9aa4-0242ac110002/roslaunch-03e15c1867ee-118.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/home/catkin_ws/src/VINS-Mono/vins_estimator/launch/euroc.launch
[1mstarted roslaunch server http://03e15c1867ee:40011/[0m

SUMMARY
========

PARAMETERS
 * /feature_tracker/config_file: /slamhive/mapping...
 * /feature_tracker/vins_folder: /home/catkin_ws/s...
 * /pose_graph/config_file: /slamhive/mapping...
 * /pose_graph/skip_cnt: 0
 * /pose_graph/skip_dis: 0.0
 * /pose_graph/visualization_shift_x: 0
 * /pose_graph/visualization_shift_y: 0
 * /rosdistro: kinetic
 * /rosversion: 1.12.17
 * /vins_estimator/config_file: /slamhive/mapping...
 * /vins_estimator/vins_folder: /home/catkin_ws/s...

NODES
  /
    feature_tracker (feature_tracker/feature_tracker)
    pose_graph (pose_graph/pose_graph)
    vins_estimator (vins_estimator/vins_estimator)

auto-starting new master
[1mprocess[master]: started with pid [129][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/home/catkin_ws/src/VINS-Mono/vins_estimator/launch/euroc.launch http://localhost:11311
[1msetting /run_id to ee0a085e-9d94-11ef-9aa4-0242ac110002[0m
[1mprocess[rosout-1]: started with pid [142][0m
started core service [/rosout]
[1mprocess[feature_tracker-2]: started with pid [145][0m
[1mprocess[vins_estimator-3]: started with pid [160][0m
[0m[ INFO] [1731044847.506261737]: init begins[0m
[0m[ INFO] [1731044847.510794468]: Loaded config_file: /slamhive/mappingtask.yaml[0m
result path /home/shaozu/output//vins_result_no_loop.csv
/home/shaozu/output/ not exists, trying to create it 
/home/shaozu not exists, trying to create it 
[0m[ INFO] [1731044847.511264231]: ROW: 480.000000 COL: 752.000000 [0m
[33m[ WARN] [1731044847.511284170]:  fix extrinsic param [0m
[0m[ INFO] [1731044847.511463089]: Extrinsic_R : 
 0.0148655  -0.999881  0.0041403
  0.999557  0.0149672  0.0257155
-0.0257744 0.00375619   0.999661[0m
[0m[ INFO] [1731044847.511505254]: Extrinsic_T : 
-0.0216401   0.064677 0.00981073[0m
[0m[ INFO] [1731044847.511544660]: Synchronized sensors, fix time offset: 0[0m
[33m[ WARN] [1731044847.511605646]: waiting for image and imu...[0m
[1mprocess[pose_graph-4]: started with pid [181][0m
vocabulary_file/home/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_k10L6.bin
loop start load vocabulary
BRIEF_PATTERN_FILE/home/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_pattern.yml
/home/shaozu/output/pose_graph/ not exists, trying to create it 
no previous pose graph
rosbag play /slamhive/dataset/MH_03_medium.bag  --clock 
[0m[ INFO] [1731044854.700230759]: Opening /slamhive/dataset/MH_03_medium.bag[0m

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step.

 [DELAYED]  Bag Time: 1403637130.549401   Duration: 0.000000 / 135.914059   Delay: 327407724.40 
[0m[ INFO] [1731044856.390761090]: IMU excitation not enouth![0m
[0m[ INFO] [1731044856.580110785]: IMU excitation not enouth![0m
[0m[ INFO] [1731044856.782597225]: IMU excitation not enouth![0m
[0m[ INFO] [1731044856.783061073]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731044856.878783096]: IMU excitation not enouth![0m
[0m[ INFO] [1731044856.879029698]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731044857.085897813]: IMU excitation not enouth![0m
[0m[ INFO] [1731044857.086515209]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731044857.300604937]: IMU excitation not enouth![0m
[0m[ INFO] [1731044857.379142068]: IMU excitation not enouth![0m
[0m[ INFO] [1731044857.612771715]: IMU excitation not enouth![0m
[0m[ INFO] [1731044857.613177600]: Not enough features or parallax; Move device around[0m
[0m[ INFO] [1731044857.800632636]: IMU excitation not enouth![0m
[0m[ INFO] [1731044857.917075592]: IMU excitation not enouth![0m
[0m[ INFO] [1731044858.099642978]: IMU excitation not enouth![0m
[33m[ WARN] [1731044858.271896256]: gyroscope bias initial calibration -0.00257781   0.0201556   0.0775422[0m
[0m[ INFO] [1731044858.380269877]: Initialization finish![0m
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position: 0.335089optimize pose graph 
optimize pose graph 
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pooptimize pose graph 
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optimize pose graph 
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optimize pose graph 
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position: -2.051703, -4.406510, 0.093445
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position: -2.482279, -4optimize pose graph 
.553422, 0.042268
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position: -2.886371, -4.709446, -0.034369
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position: -3.963021, -5.407271, -0.221273
position: -4.025387, -5.481708, -0.215233
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position: -4.100893, -5.617657, -0.206505
position: -4.112285, -5.682456, -0.212261
position: -4.098334, -5.741093, -0.216129
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position: -3.765129, -5.976434, -0.153404
position: -3.657800, -6.002871, -0.147818
position: -3.539706, -6.027168, -0.149473
position: -3.412337, -6.047134, -0.154858
position: -3.275476, -6.062824, -0.157693optimize pose graph 

position: -3.130020, -6.075106, -0.157142
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position: -2.535363, -6.113649, -0.063665
position: -2.399404, -6.119242, -0.014302
position: -2.271141, -6.126864, 0.041369
position: -2.149248, -6.133798, 0.100825
position: -2.033002, -6.139004, 0.163903
position: -1.923755, -6.144618, 0.231455
position: -1.817409, -6.151703, 0.294845
position: -1.713194, -6.162302, 0.350816
position: -1.609083, -6.177558, 0.399639
position: -1.505334, -6.198466, 0.442694
position: -1.404092, -6.224598, 0.480243
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position: -0.744572, -6.677229, 0.626394
position: -0.664954, -6.758738, 0.620290
position: -0.583144, -6.839913, 0optimize pose graph 
.607724
position: -0.496802, -6.920077, 0.589475
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position: -0.228402, -7.134027, 0.509236
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position: -0.041794, -7.245500, 0.436879
position: 0.054374, -7.285387, 0.396468
position: 0.151083, -7.310581, 0.360390
position: 0.247665, -7.320456, 0.330326
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position: 0.537045, -7.292400, 0.258220
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position: 0.844058, -7.228711, 0.170831
position: 0.946544, -7.196427, 0.131508
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position: 1.142409, -7.100374, 0.054666
position: 1.235202, -7.030861, 0.027152
position: 1.321691, -6.947309, 0.007036
position: 1.402407, -6.853023, -0.007822
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position: 1.611010, -6.540760, -0.058938
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positoptimize pose graph 
optimize pose graph 
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position: 1.891444, -5.960882, -0.098183
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position: 2.210181, -5.329302, 0.003211
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position: 2.407560, -4.933889, -0.027451
position: 2.472145, -4.797253, -0.044136
position: 2.532675, -4.657006, -0.055791
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positioptimize pose graph 
on: 2.977612, -3.157284, -0.021036
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position: 3.071431, -2.879481, 0.148350
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position: 2.920098, -2.296221optimize pose graph 
, 0.223866
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position: 2.424424, -2.077274, 0.405126
position: 2.382905, -2.050973, 0.399544
position: 2.339950, -2.022754, 0.398266
position: 2.295765, -1.994300, 0.404493
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position: 1.984798, -1.806916, 0.405403
position: 1.929395, -1.773428, 0.420279
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position: 1.8optimize pose graph 
13969, -1.707023, 0.463494
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position: 1.699562, -1.635051, 0.484058
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position: 1.517897, -1.512008, 0.469960
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position: 1.341404, -1.380865, 0.437400
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position: 1.072823, -1.173581, 0.473415
position: 1.019211, -1.132226, 0.476470
position: 0.969737, -1.085348, 0.475109
position: 0.920127, -1.039654, 0.467194
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position: 0.640409, -0.596355, 0.394178
position: 0.616215, -0.542498, 0.3753optimize pose graph 
67
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position: 0.374100, -0.212799, 0.182419
position: 0.364890, -0.203863, 0.159783
position: 0.354253, -0.195039, 0.136928
position: 0.343104, -0.184464, 0.115197
position: 0.333861, -optimize pose graph 
0.171956, 0.099389
position: 0.326760, -0.156617, 0.091191
position: 0.321254, -0.140894, 0.086624
position: 0.317948, -0.125188, 0.082571
position: 0.317483, -0.108145, 0.082592
position: 0.321246, -0.089230, 0.089357
position: 0.326893, -0.069223, 0.094342
position: 0.332548, -0.050565, 0.090499
position: 0.337662, -0.032789, 0.077430
position: 0.341647, -0.016998, 0.056815
position: 0.341107, -0.013464, 0.042236
position: 0.339120, -0.022423, 0.039633
position: 0.334827, -0.029527, 0.030916
position: 0.334416, -0.034935, 0.031712
position: 0.339150, -0.033823, 0.026108
position: 0.339514, -0.033066, 0.032454
position: 0.337994, -0.031356, 0.035352
position: 0.335049, -0.031534, 0.036524
position: 0.334028, -0.031243, 0.037180
position: 0.333682, -0.030976, 0.037478
position: 0.333591, -0.031135, 0.037480
position: 0.333618, -0.030906, 0.037424
position: 0.333501, -0.031002, 0.037508
position: 0.333627, -0.030985, 0.037441
position: 0.333772, -0.030988, 0.037378
position: 0.333779, -0.031107, 0.037280
posit
Done.
killing:
 * /feature_tracker
 * /pose_graph
 * /rosout
 * /vins_estimator
[33m[ WARN] [1731044991.537044314]: Shutdown request received.[0m
[33m[ WARN] [1731044991.537108720]: Reason given for shutdown: [user request][0m
ion: 0.333866, -0.030952, 0.037301
position: 0.333801, -0.030975, 0.037371
position: 0.333781, -0.030934, 0.037399
position: 0.333868, -0.030868, 0.037400
position: 0.333942, -0.030887, 0.037322
position: 0.334065, -0.030815, 0.037283
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position: 0.334094, -0.030980, 0.037295
position: 0.334158, -0.030922, 0.037334
position: 0.334139, -0.030964, 0.037367
position: 0.334182, -0.030960, 0.037333
position: 0.334170, -0.030905, 0.037339
position: 0.334151, -0.030949, 0.037359
position: 0.334288, -0.030861, 0.037345
[33m[ WARN] [1731044991.538075606]: Shutdown request received.[0m
[33m[ WARN] [1731044991.538104753]: Reason given for shutdown: [user request][0m
killed
